JP2010122225A - Surface inspection apparatus for electrolytically refined metal deposition plate - Google Patents

Surface inspection apparatus for electrolytically refined metal deposition plate Download PDF

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JP2010122225A
JP2010122225A JP2009266279A JP2009266279A JP2010122225A JP 2010122225 A JP2010122225 A JP 2010122225A JP 2009266279 A JP2009266279 A JP 2009266279A JP 2009266279 A JP2009266279 A JP 2009266279A JP 2010122225 A JP2010122225 A JP 2010122225A
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metal deposition
deposition plate
robot
pair
unit
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JP5048745B2 (en
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Myeong Rok Bae
ミョン−ロク・ベ
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LS MnM Inc
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LS Nikko Copper Inc
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/8422—Investigating thin films, e.g. matrix isolation method
    • C—CHEMISTRY; METALLURGY
    • C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
    • C25C—PROCESSES FOR THE ELECTROLYTIC PRODUCTION, RECOVERY OR REFINING OF METALS; APPARATUS THEREFOR
    • C25C7/00—Constructional parts, or assemblies thereof, of cells; Servicing or operating of cells
    • C25C7/06—Operating or servicing

Abstract

<P>PROBLEM TO BE SOLVED: To provide a surface inspection apparatus for an electrolytically refined metal deposition plate which photographs the surface of the metal deposition plate and automatically determines the grade of the metal deposition plate according to the sizes of nodules on the photographed surface and their distribution rate per surface. <P>SOLUTION: The surface inspection apparatus for the electrolytically refined metal deposition plate 10 includes: an inspection unit 200 which photographs and inspects the metal deposition plate 10 which is intended to be inspected; a loading robot 300 which loads the metal deposition plate 10, which is intended to be inspected, onto the inspection unit; an unloading robot 400 which unloads the metal deposition plate 10 which has been inspected by the inspection unit 200; a conveyor 100 which conveys the metal deposition plate 10 which has been unloaded by the unloading robot 400; and a control unit which controls the inspection unit 200 and the actuation of these parts, and determines the grade of the metal deposition plate by the sizes and distribution of the nodules generated on the metal deposition plate 10 using an image of the metal deposition plate 10 photographed by the inspection unit 200. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は電解精錬された金属析出板の表面検査装置に関し、より詳細には、金属析出板の表面を撮影し、撮影された面当たりの小塊(Ｎｏｄｕｌｅｓ)の大きさ及び分布比率に応じて自動で金属析出板の等級を分類できる電解析出板の表面検査装置に関する。   The present invention relates to a surface inspection device for an electrolytically refined metal deposition plate, and more specifically, images the surface of the metal deposition plate, and according to the size and distribution ratio of the nodules taken per surface. The present invention relates to a surface inspection apparatus for electrolytic deposition plates that can automatically classify metal deposition plate grades.

周知のように、Ｃｕ、Ｚｎ、Ｎｉ、Ｔｅなどのような金属は電解精錬を通じて高純度の金属として製造される。電解精錬は、電解液が収容された電解槽内部に多数の陽極板と陰極板を交互に浸漬させた後、電気分解過程を経て行われる。即ち、電解槽に浸漬された多数の陰極板と陽極板を交互に設置した後、陽極板と陰極板に電流を通電させると、電解液中で銅イオン（Ｃｕ２＋）などのような金属イオンが陽極板から溶け出して陰極板に一定厚さ以上電着されるようにした後、陰極板からこれを分離して精錬された金属を得る。 As is well known, metals such as Cu, Zn, Ni, and Te are manufactured as high-purity metals through electrolytic refining. The electrolytic refining is performed through an electrolysis process after alternately immersing a large number of anode plates and cathode plates in an electrolytic cell containing an electrolytic solution. That is, when a large number of cathode plates and anode plates immersed in an electrolytic cell are alternately placed and then a current is passed through the anode plate and the cathode plate, metal ions such as copper ions (Cu 2+ ) and the like are present in the electrolyte. After being dissolved from the anode plate and electrodeposited on the cathode plate by a certain thickness or more, it is separated from the cathode plate to obtain a refined metal.

電解精錬において電解液は析出しようとする電解金属を含む水溶液、即ち、電解質が用いられる。陽極板の表面では金属カチオンを生成する酸化作用が、陰極板の表面では金属カチオンが析出される還元作用が行われる。銅電解精錬の例を挙げると、陽極板として製錬過程で生産された純度９９.５％の精製粗銅が鋳造されて用いられ、陰極板としてはステンレス板が用いられる。陽極で溶解された銅イオンが移動して陰極板に還元されながら純度の高い９９.９９３％以上の銅が電着される。   In electrolytic refining, an electrolytic solution is an aqueous solution containing an electrolytic metal to be deposited, that is, an electrolyte. An oxidizing action for generating metal cations is performed on the surface of the anode plate, and a reducing action for depositing metal cations is performed on the surface of the cathode plate. As an example of copper electrolytic refining, refined crude copper having a purity of 99.5% produced in the smelting process is cast and used as the anode plate, and a stainless steel plate is used as the cathode plate. While copper ions dissolved at the anode move and are reduced to the cathode plate, high purity 99.993% copper is electrodeposited.

［反応式］
正極反応：Ｃｕ（９９.５％）→Ｃｕ２＋＋２ｅ
負極反応：Ｃｕ２＋＋２ｅ→Ｃｕ（９９.９９３％）
全反応：Ｃｕ（９９.５％）→Ｃｕ（９９.９９３％）
このように電解精錬を通じて陰極板で一定量の金属が析出されれば、電解精錬された金属が陰極板に正常に析出されたか否かを検査する。従来技術による電解精錬された金属析出板の検査方法は、析出された金属に不純物が含まれて発生する小塊の大きさと面当たりの分布比率を作業者が肉眼で検査して等級を分類するようになる。即ち、電解精錬された金属析出板の面当たりの小塊のサイズが大きく、その分布比率が高いほど等級が低いと判別する。 [Reaction formula]
Positive electrode reaction: Cu (99.5%) → Cu 2+ + 2e
Negative electrode reaction: Cu 2+ + 2e → Cu (99.993%)
Total reaction: Cu (99.5%) → Cu (99.993%)
Thus, if a certain amount of metal is deposited on the cathode plate through electrolytic refining, it is inspected whether or not the electrorefined metal is normally deposited on the cathode plate. The conventional method for inspecting electrolytically refined metal deposit plates is to classify the grades by visual inspection of the size and distribution ratio per surface of the nodule generated by impurities in the deposited metal. It becomes like this. That is, it is determined that the size of the small lump per surface of the electrolytically refined metal deposition plate is large, and the grade is lower as the distribution ratio is higher.

大韓民国公開特許１０−２００２−００５０８３８号明細書Korean Open Patent No. 10-2002-0050838 Specification

しかしながら、従来のように作業者が肉眼で電解精錬された金属析出板の表面に発生した小塊の大きさと面当たりの分布比率を検査して電解精錬された金属析出板の等級を分類する場合には作業者の熟練度や疲労度によって正確に判別し難いという問題がある。   However, when the operator classifies the grade of the electrolytically refined metal deposit plate by examining the size of the small lumps generated on the surface of the metal deposit plate that has been electrolytically refined by the naked eye and the distribution ratio per surface as in the past. However, there is a problem that it is difficult to accurately discriminate depending on the skill level and fatigue level of the worker.

従って、本発明は上記事情に鑑みてなされたものであって、その目的は、金属析出板の表面を撮影し、撮影された表面の小塊の大きさと面当たりの分布比率に応じて自動で金属析出板の等級を判定できる電解精錬された金属析出板の表面検査装置を提供することにある。   Therefore, the present invention has been made in view of the above circumstances, and its purpose is to photograph the surface of the metal deposition plate and automatically according to the size of the small surface of the photographed surface and the distribution ratio per surface. An object of the present invention is to provide a surface inspection apparatus for an electrolytically refined metal deposition plate capable of determining the grade of the metal deposition plate.

前記目的を達成するために、本発明の電解精錬された金属析出板の表面検査装置は、検査しようとする金属析出板を撮影して検査する検査部と、前記検査しようとする金属析出板を前記検査部にロードするローディングロボットと、前記検査部で検査済みの金属析出板をアンロードするアンローディングロボットと、前記アンローディングロボットによりアンロードされた金属析出板を移送させるコンベヤ部と、前記検査部と、前記ローディングロボット及びアンローディングロボットと、前記コンベヤ部の作動を制御し、前記検査部で撮影された前記金属析出板のイメージを用いて前記金属析出板の小塊の大きさ及び分布に応じて前記金属析出板の等級を判定する制御部とを含む。   In order to achieve the above object, a surface inspection apparatus for an electrolytically refined metal deposition plate according to the present invention includes an inspection unit that photographs and inspects a metal deposition plate to be inspected, and a metal deposition plate to be inspected. A loading robot that loads the inspection unit; an unloading robot that unloads the metal deposition plate that has been inspected by the inspection unit; a conveyor unit that transports the metal deposition plate unloaded by the unloading robot; and the inspection Control the operation of the conveyor unit, the loading robot and the unloading robot, and by using the image of the metal deposition plate photographed by the inspection unit, And a control unit for determining the grade of the metal deposition plate accordingly.

本発明によれば、金属析出板の表面で撮影された面当たりの小塊の大きさと分布比率に応じて自動で金属析出板の等級を分類することで、より正確かつ迅速に電解精錬された金属析出板の等級を分類でき、出荷製品の品質管理が容易になるのはもちろん、生産装備別の不良類型の分析が容易であるという効果を奏する。   According to the present invention, by automatically classifying the grade of the metal deposit plate according to the size and distribution ratio of the small nodules per surface photographed on the surface of the metal deposit plate, it was electrolytically refined more accurately and quickly. The grade of the metal deposit plate can be classified, and the quality control of the shipped product is facilitated, and the defect type according to the production equipment can be easily analyzed.

本発明による電解製錬された金属検査装置を示す斜視図である。1 is a perspective view showing an electrolytically smelted metal inspection apparatus according to the present invention. 図１に示す検査装置の正面図である。It is a front view of the inspection apparatus shown in FIG. 図１に示す検査装置の検査部の斜視図である。It is a perspective view of the test | inspection part of the test | inspection apparatus shown in FIG. 図３に示す検査部の正面図である。It is a front view of the test | inspection part shown in FIG. 図１に示す検査装置のグリッパの斜視図である。It is a perspective view of the gripper of the inspection apparatus shown in FIG. 図５に示すグリッパの正面図である。It is a front view of the gripper shown in FIG. 図５に示すグリッパの側面図である。FIG. 6 is a side view of the gripper shown in FIG. 5. 図３に示す検査部で撮影された電解精錬された金属析出板のイメージであって、小塊がない場合を示す図である。FIG. 4 is an image of an electrolytically refined metal deposition plate photographed by an inspection unit shown in FIG. 3 and showing a case where there is no small lump. 図３に示す検査部で撮影された電解精錬された金属析出板のイメージであって、小塊がある場合を示す図である。FIG. 4 is an image of an electrolytically refined metal deposition plate photographed by an inspection unit shown in FIG. 3 and showing a case where there is a small lump. 図３に示す検査部で撮影された電解精錬された金属析出板のイメージであって、小塊がない場合を示す図である。FIG. 4 is an image of an electrolytically refined metal deposition plate photographed by an inspection unit shown in FIG. 3 and showing a case where there is no small lump. 図３に示す検査部で撮影された電解精錬された金属析出板のイメージであって、小塊がある場合を示す図である。FIG. 4 is an image of an electrolytically refined metal deposition plate photographed by an inspection unit shown in FIG. 3 and showing a case where there is a small lump.

以下、本発明の最も好適な実施形態を添付の図面を参照して本発明の技術分野における通常の知識を有する者が容易に実施できるように更に詳細に説明するが、これは例示に過ぎないものであり、本発明がこれに限定されるものではない。   Hereinafter, the most preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings so as to be easily implemented by those having ordinary skill in the art of the present invention. However, the present invention is not limited to this.

図１は、本発明の電解精錬された金属析出板の表面検査装置の斜視図であり、図２は、図１に示す電解精錬された金属析出板の表面検査装置の正面図である。   FIG. 1 is a perspective view of a surface inspection apparatus for an electrorefined metal deposition plate according to the present invention, and FIG. 2 is a front view of the surface inspection apparatus for an electrorefined metal deposition plate shown in FIG.

図１及び図２に示すように、本発明の電解精錬された金属析出板の表面検査装置は、コンベヤ部１００、検査部２００、ローディングロボット３００及びアンローディングロボット４００で構成される。   As shown in FIGS. 1 and 2, the surface inspection apparatus for an electrolytically refined metal deposition plate according to the present invention includes a conveyor unit 100, an inspection unit 200, a loading robot 300, and an unloading robot 400.

コンベヤ部１００は検査済みの金属析出板１０がアンロードされて搬出され、検査部２００はコンベヤ部１００の一側に設置されて金属析出板１０に小塊があるか否かを撮影し、その撮影イメージを発生して制御部６００に出力する。   The conveyor unit 100 is unloaded with the inspected metal deposition plate 10 and carried out, and the inspection unit 200 is installed on one side of the conveyor unit 100 to photograph whether the metal deposition plate 10 has a small lump. A captured image is generated and output to the controller 600.

ローディングロボット３００はコンベヤ部１００の他側に設置されて金属析出板１０を検査部２００にロードし、アンローディングロボット４００は、コンベヤ部１００の上側に設置されて検査部２００で検査済みの金属析出板１０をコンベヤ部１００にアンロードさせる。   The loading robot 300 is installed on the other side of the conveyor unit 100 to load the metal deposition plate 10 onto the inspection unit 200, and the unloading robot 400 is installed on the upper side of the conveyor unit 100 and has been inspected by the inspection unit 200. The plate 10 is unloaded onto the conveyor unit 100.

制御部６００は、コンベヤ部１００と検査部２００とローディングロボット３００とアンローディングロボット４００をそれぞれ制御して本発明の電解精錬された金属析出板の検査装置を全般的に制御する。このような制御部６００は、検査部２００で金属析出板１０を撮影した撮影イメージの伝達を受けて金属析出板１０に小塊が発生した場合、発生した小塊の大きさと金属析出板１０の面当たりの分布比率を算出した後、設定された等級判定によって検査が実行された金属析出板１０の等級を自動で判定する。   The controller 600 controls the conveyor unit 100, the inspection unit 200, the loading robot 300, and the unloading robot 400, respectively, and generally controls the inspection apparatus for the electrolytically refined metal deposition plate according to the present invention. When such a control unit 600 receives a captured image obtained by photographing the metal deposition plate 10 by the inspection unit 200 and a small lump is generated in the metal deposition plate 10, the size of the generated small lump and the metal deposition plate 10 are determined. After calculating the distribution ratio per surface, the grade of the metal deposit plate 10 that has been inspected is automatically judged by the set grade judgment.

本発明の電解精錬された金属析出板の表面検査装置を構成するコンベヤ部１００と、検査部２００と、ローディングロボット３００及びアンローディングロボット４００の構成を更に詳細に説明すれば、以下の通りである。   The configurations of the conveyor unit 100, the inspection unit 200, the loading robot 300, and the unloading robot 400 constituting the surface inspection apparatus for the electrolytically refined metal deposition plate according to the present invention will be described in more detail as follows. .

コンベヤ部１００は、図１及び図２に示すように、コンベヤベース部材１１０と、一対のチェーンコンベヤ組立体１２０とで構成される。   As shown in FIGS. 1 and 2, the conveyor unit 100 includes a conveyor base member 110 and a pair of chain conveyor assemblies 120.

コンベヤベース部材１１０はコンベヤ部１００を全般的に支持し、一対のチェーンコンベヤ組立体１２０はコンベヤベース部材１１０に設置され、それぞれ多数のチェーン１２１を含む。各々のチェーン１２１は、リンク１２１ａと、リンク１２１ａに設置され、金属析出板１０が取り付けられる定着溝１２１ｃが形成された定着部材１２１ｂとからなる。   The conveyor base member 110 generally supports the conveyor unit 100, and a pair of chain conveyor assemblies 120 are installed on the conveyor base member 110 and each include a number of chains 121. Each chain 121 includes a link 121a and a fixing member 121b provided on the link 121a and having a fixing groove 121c to which the metal deposition plate 10 is attached.

検査部２００は、図１、図３及び図４に示すように、収納部２１０と、第１ビジョン部２２０及び第２ビジョン部２３０で構成される。   As illustrated in FIGS. 1, 3, and 4, the inspection unit 200 includes a storage unit 210, a first vision unit 220, and a second vision unit 230.

収納部２１０は金属析出板１０を収納し、収納ベース部材２１１と、一対のガイド部材２１２及びテンション部２１３で構成される。   The storage unit 210 stores the metal deposition plate 10 and includes a storage base member 211, a pair of guide members 212, and a tension unit 213.

収納ベース部材２１１は収納部２１０を全般的に支持し、一対のガイド部材２１２は収納ベース部材２１１に設置されて収納される金属析出板１０をガイドするためのガイド溝２１２ａが形成される。テンション部２１３は、一対のガイド部材２１２の間に設置されて金属析出板１０の収納時に衝撃を緩和させる。   The storage base member 211 generally supports the storage portion 210, and the pair of guide members 212 are formed with guide grooves 212 a for guiding the metal deposition plate 10 installed and stored in the storage base member 211. The tension portion 213 is installed between the pair of guide members 212 to relieve an impact when the metal deposition plate 10 is stored.

テンション部２１３は、支持部材２１３ａと、第１テンションベース部材２１３ｂと、第２テンションベース部材２１３ｃ及び多数のバネ部材２１３ｄからなる。   The tension portion 213 includes a support member 213a, a first tension base member 213b, a second tension base member 213c, and a number of spring members 213d.

支持部材２１３ａは一対のガイド部材２１２の間に設置され、第１テンションベース部材２１３ｂは支持部材２１３ａの両側にそれぞれ設置される。第２テンションベース部材２１３ｃは第１テンションベース部材２１３ｂの上側に設置され、多数のバネ部材２１３ｄは第１テンションベース部材２１３ｂと第２テンションベース部材２１３ｃとの間に設置されて金属析出板１０の下降時に衝撃を吸収する。   The support member 213a is installed between the pair of guide members 212, and the first tension base member 213b is installed on both sides of the support member 213a. The second tension base member 213c is installed on the upper side of the first tension base member 213b, and a large number of spring members 213d are installed between the first tension base member 213b and the second tension base member 213c. Absorbs shock when descending.

第１ビジョン部２２０は収納部２１０の一側に設置されて収納部２１０に収納された金属析出板１０の一面を撮影し、第２ビジョン部２３０は収納部２１０の他側に設置されて収納部２１０に収納された金属析出板１０の他面を撮影する。   The first vision unit 220 is installed on one side of the storage unit 210 to photograph one surface of the metal deposition plate 10 stored in the storage unit 210, and the second vision unit 230 is installed on the other side of the storage unit 210 and stored. The other surface of the metal deposition plate 10 stored in the unit 210 is photographed.

金属析出板１０を撮影する第１ビジョン部２２０と第２ビジョン部２３０はそれぞれ昇降機構２２１、２３１と、昇降部材２２２、２３２と、照明機器２２３、２３３及びカメラ２２４、２３４で構成される。   The first vision unit 220 and the second vision unit 230 that photograph the metal deposition plate 10 are configured by elevating mechanisms 221 and 231, elevating members 222 and 232, illumination devices 223 and 233, and cameras 224 and 234, respectively.

昇降機構２２１、２３１はボールスクリュ移動機構が適用され、昇降部材２２２、２３２は昇降機構２２１、２３１により昇降するように設置される。照明機器２２３、２３３は、昇降部材２２２、２３２に傾斜するように設置されて金属析出板１０に照明を照射する。このような照明機器２２３、２３３は、レーザ照明（図示せず）とＬＥＤ照明（図示せず）とからなり、カメラ２２４、２３４で３次元イメージを撮影する場合にはレーザ照明が用いられる反面、２次元イメージを撮影する場合にはＬＥＤ照明が用いられる。このような選択は制御部６００で選択して制御し、このような技術は公知となった技術が適用されるため、詳細な説明を省略する。   A ball screw moving mechanism is applied to the lifting mechanisms 221 and 231, and the lifting members 222 and 232 are installed so as to be lifted and lowered by the lifting mechanisms 221 and 231. The illumination devices 223 and 233 are installed so as to be inclined to the elevating members 222 and 232 and irradiate the metal deposition plate 10 with illumination. Such illumination devices 223 and 233 include laser illumination (not shown) and LED illumination (not shown). When a three-dimensional image is taken by the cameras 224 and 234, laser illumination is used. In the case of taking a two-dimensional image, LED illumination is used. Such selection is selected and controlled by the control unit 600, and since such a technique is a known technique, detailed description thereof is omitted.

照明機器２２３、２３３は、チルト部２２５、２３５を備える。チルト部２２５、２３５は、固定ブロック２２５ａ、２３５ａと、チルト部材２２５ｄ、２３５ｄ及び空圧シリンダ２２５e、２３５ｅからなる。   The illumination devices 223 and 233 include tilt units 225 and 235. The tilt portions 225 and 235 include fixed blocks 225a and 235a, tilt members 225d and 235d, and pneumatic cylinders 225e and 235e.

固定ブロック２２５ａ、２３５ａは昇降部材２２２、２３２に設置され、多数のガイドピン２２５ｂ、２３５ｂが設置され、チルト部材２２５ｄ、２３５ｄは多数のガイドピン２２５ｂ、２３５ｂにそれぞれ挿入される多数の長孔２２５c、２３５ｃが形成され、照明機器２２３、２３３が設置される。空圧シリンダ２２５e、２３５ｅは、固定ブロック２２５ａ、２３５ａと照明機器２２３、２３３に連結されて照明機器２２３、２３３をプッシュすることにより、チルト部材２２５ｄ、２３５ｄがチルトするように駆動させて照明機器２２３、２３３の傾斜角を調整する。   The fixed blocks 225a and 235a are installed on the elevating members 222 and 232, a plurality of guide pins 225b and 235b are installed, and the tilt members 225d and 235d are inserted into the plurality of guide pins 225b and 235b, respectively. 235c is formed, and the lighting devices 223 and 233 are installed. The pneumatic cylinders 225e and 235e are connected to the fixed blocks 225a and 235a and the lighting devices 223 and 233, and push the lighting devices 223 and 233, so that the tilt members 225d and 235d are driven to tilt and the lighting device 223 is driven. 233 is adjusted.

カメラ２２４、２３４は、昇降部材２２２、２３２に直交するように照明機器２２３、２３３と離間して設置されて金属析出板１０を撮影して撮影イメージを発生する。カメラ２２４、２３４は領域カメラが適用される。   The cameras 224 and 234 are installed apart from the lighting devices 223 and 233 so as to be orthogonal to the elevating members 222 and 232, and photograph the metal deposition plate 10 to generate a photographed image. Area cameras are applied to the cameras 224 and 234.

ローディングロボット３００は、図１及び図２に示すように、第１ロボットベース部材３１０及び第１ロボット３２０で構成される。   As shown in FIGS. 1 and 2, the loading robot 300 includes a first robot base member 310 and a first robot 320.

第１ロボットベース部材３１０はコンベヤ部１００の他側に設置され、第１ロボット３２０は第１ロボットベース部材３１０に設置される金属析出板１０を検査部２００にロードする。   The first robot base member 310 is installed on the other side of the conveyor unit 100, and the first robot 320 loads the metal deposition plate 10 installed on the first robot base member 310 onto the inspection unit 200.

第１ロボット３２０は、モータにより第１ロボットベース部材３１０に回転されるように設置されるヨーク部材３２１と、ヨーク部材３２１に連結されて揺れる揺れ部材３２２と、揺れ部材３２２に連結されて揺れ部材３２２に連動される第１アーム３２３と、第１アーム３２３に連結されて第１アーム３２３に連動される第２アーム３２４と、ヨーク部材３２１と第２アーム３２４に連結される支持部材３２５と、第２アーム３２４に回転されるように設置されて金属析出板１０を把持するグリッパ３２６とからなる。   The first robot 320 includes a yoke member 321 installed so as to be rotated by the motor to the first robot base member 310, a swinging member 322 connected to the yoke member 321, and a swinging member connected to the swinging member 322. A first arm 323 linked to the first arm 323, a second arm 324 linked to the first arm 323 and linked to the first arm 323, a support member 325 linked to the yoke member 321 and the second arm 324, The gripper 326 is installed to be rotated by the second arm 324 and grips the metal deposition plate 10.

アンローディングロボット４００は、図１及び図２でのように、第２ロボットベース部材４１０及び第２ロボット４２０で構成される。   The unloading robot 400 includes a second robot base member 410 and a second robot 420 as shown in FIGS.

第２ロボットベース部材４１０はコンベヤ部１００が下側に位置するように設置され、第２ロボット４２０は検査部２００で検査を済ませて第２ロボットベース部材４１０に載置された金属析出板１０をコンベヤ部１００にアンロードさせる。   The second robot base member 410 is installed so that the conveyor unit 100 is positioned on the lower side, and the second robot 420 has inspected the metal deposition plate 10 placed on the second robot base member 410 after being inspected by the inspection unit 200. The conveyor unit 100 is unloaded.

ロボット４２０は、ローディングロボット３００の第１ロボット３２０のようにヨーク部材４２１と、揺れ部材４２２と、第１アーム４２３及び第２アーム４２４と、支持部材４２５及びグリッパ４２６からなる。   Like the first robot 320 of the loading robot 300, the robot 420 includes a yoke member 421, a swinging member 422, a first arm 423 and a second arm 424, a support member 425, and a gripper 426.

ヨーク部材４２１は第２ロボットベース部材４１０に回転されるように設置され、揺れ部材４２２はヨーク部材４２１に連結されて揺れる。第１アーム４２３は揺れ部材４２２に連結されて揺れ部材４２２に連動され、第２アーム４２４は第１アーム４２３に連結されて第１アーム４２３に連動される。支持部材４２５はヨーク部材４２１と第２アーム４２４に連結され、グリッパ４２６は第２アーム４２４に回転されるように設置されて金属析出板１０を把持する。   The yoke member 421 is installed to be rotated by the second robot base member 410, and the swing member 422 is connected to the yoke member 421 and swings. The first arm 423 is connected to the swing member 422 and interlocked with the swing member 422, and the second arm 424 is connected to the first arm 423 and interlocked with the first arm 423. The support member 425 is connected to the yoke member 421 and the second arm 424, and the gripper 426 is installed so as to be rotated by the second arm 424 to hold the metal deposition plate 10.

金属析出板１０を把持するグリッパ３２６、４２６を添付する図５〜図７を参照して説明すれば、以下の通りである。   It will be as follows if it demonstrates with reference to FIGS. 5-7 to which the grippers 326 and 426 which hold | grip the metal depositing plate 10 are attached.

グリッパ３２６、４２６は、それぞれ回転部材５１０と、グリッパフレーム５２０と、一対の第１把持部５３０及び一対の第２把持部５４０で構成される。   Each of the grippers 326 and 426 includes a rotating member 510, a gripper frame 520, a pair of first grip portions 530, and a pair of second grip portions 540.

回転部材５１０は、第２アーム３２４、４２４にそれぞれ回転されるように設置され、グリッパフレーム５２０は回転部材５１０に設置される。一対の第１把持部５３０は、グリッパフレーム５２０の一側と他側にそれぞれ設置されて金属析出板１０を把持する。このような一対の第１把持部５３０は、それぞれ空圧シリンダ５３１と、一対の回動部材５３２及び一対の第１把持部材５３３からなる。   The rotating member 510 is installed so as to be rotated by the second arms 324 and 424, and the gripper frame 520 is installed on the rotating member 510. The pair of first grip portions 530 are respectively installed on one side and the other side of the gripper frame 520 to grip the metal deposition plate 10. The pair of first grip portions 530 includes a pneumatic cylinder 531, a pair of rotating members 532, and a pair of first grip members 533, respectively.

空圧シリンダ５３１はグリッパフレーム５２０の一側と他側にそれぞれ設置され、一対の回動部材５３２はグリッパフレーム５２０に設置され、一対の第１把持部材５３３を回動するように空圧シリンダ５３１にそれぞれ連結される。一対の第１把持部材５３３は、一対の回動部材５３２にそれぞれ連結されて一対の回動部材５３２の回動により金属析出板１０を把持したり、解除する。   The pneumatic cylinders 531 are installed on one side and the other side of the gripper frame 520, respectively, and the pair of rotating members 532 are installed on the gripper frame 520, and the pneumatic cylinders 531 are rotated so as to rotate the pair of first gripping members 533. Respectively. The pair of first gripping members 533 are respectively connected to the pair of rotating members 532 and grip or release the metal deposition plate 10 by the rotation of the pair of rotating members 532.

一対の第２把持部５４０は、一対の第１把持部５３０の内側に位置するようにグリッパフレーム５２０に設置されて金属析出板１０を把持する。このような一対の第２把持部５４０は、空圧シリンダ５４１及び一対の第２把持部材５４２からなる。   The pair of second grips 540 are installed on the gripper frame 520 so as to be positioned inside the pair of first grips 530 and grip the metal deposition plate 10. The pair of second grip portions 540 includes a pneumatic cylinder 541 and a pair of second grip members 542.

空圧シリンダ５４１は、一対の第１把持部５３０の内側に位置するようにグリッパフレーム５２０の一側と他側にそれぞれ設置され、一対の第２把持部材５４２は、空圧シリンダ５４１にそれぞれ設置されて金属析出板１０を把持したり、解除する。   The pneumatic cylinders 541 are respectively installed on one side and the other side of the gripper frame 520 so as to be positioned inside the pair of first grip portions 530, and the pair of second grip members 542 are respectively installed on the pneumatic cylinders 541. Then, the metal deposition plate 10 is grasped or released.

前記構成を有する本発明の電解精錬された金属析出板の表面検査装置の作用を説明すれば、以下の通りである。   The operation of the surface inspection apparatus for the electrolytically refined metal deposition plate of the present invention having the above-described configuration will be described as follows.

ローディングロボット３００は、銅のような電解金属が電解精錬された９８×１０８ｃｍの金属析出板１０が図１に示す矢印Ａ方向へ移送されれば、これを把持して検査部２００にロードする。検査部２００は、金属析出板１０がロードされれば、これを撮影する。金属析出板１０の撮影時に第１ビジョン部２２０は金属析出板１０の一表面を撮影し、第２ビジョン部２３０は金属析出板１０の他表面を撮影して金属析出板１０の両表面で小塊が発生したか否かを検査する。   The loading robot 300 grips and loads the 98 × 108 cm metal deposition plate 10, which is electrolytically refined with an electrolytic metal such as copper, in the direction of arrow A shown in FIG. If the metal depositing plate 10 is loaded, the inspection unit 200 captures this. At the time of photographing the metal deposition plate 10, the first vision unit 220 photographs one surface of the metal deposition plate 10, and the second vision unit 230 photographs the other surface of the metal deposition plate 10 and small on both surfaces of the metal deposition plate 10. Inspect whether lumps have occurred.

金属析出板１０の表面を検査するために、照明機器２２３、２３３及びカメラ２２４、２３４はそれぞれ昇降部材２２２、２３２に設置され、昇降部材２２２、２３２は昇降機構２２１、２３１に設置されて垂直方向に昇降する。昇降部材２２２、２３２が昇降機構２２１、２３１により垂直方向に昇降することにより、昇降部材２２２、２３２に設置された照明機器２２３、２３３及びカメラ２２４、２３４は金属析出板１０の表面に沿ってスキャニングしながら金属析出板１０を撮影して図８Ａ〜図８Ｄのような撮影イメージを出力して制御部６００に送出する。   In order to inspect the surface of the metal deposition plate 10, the lighting devices 223 and 233 and the cameras 224 and 234 are installed on the lifting members 222 and 232, respectively, and the lifting members 222 and 232 are installed on the lifting mechanisms 221 and 231. Go up and down. When the elevating members 222 and 232 are vertically moved by the elevating mechanisms 221 and 231, the lighting devices 223 and 233 and the cameras 224 and 234 installed on the elevating members 222 and 232 are scanned along the surface of the metal deposition plate 10. The metal deposition plate 10 is photographed while photographing images as shown in FIGS. 8A to 8D are output and sent to the controller 600.

図８Ａに示す撮影イメージは２次元で撮影されたイメージであって、小塊がない場合であり、図８Ｂに示す撮影イメージは２次元で撮影されたイメージであって、小塊がある場合である。また、図８Ｃに示す撮影イメージは３次元で撮影されたイメージであって、小塊がない場合であり、図８Ｄに示す撮影イメージは３次元で撮影されたイメージであって、小塊がある場合である。カメラ２２４、２３４で撮影された撮影イメージが図８Ｂ及び図８Ｄでのように、小塊がある撮影イメージである場合に制御部６００はこれの伝達を受けて小塊の大きさと小塊の個数を判別して小塊の大きさと個数に応じて金属析出板１０の等級を分類する。   The photographed image shown in FIG. 8A is an image photographed two-dimensionally and has no small chunk, and the photographed image shown in FIG. 8B is an image photographed two-dimensionally and has a small chunk. is there. 8C is an image taken in three dimensions and there is no small chunk, and the photographed image shown in FIG. 8D is an image taken in three dimensions and has a small chunk. Is the case. 8B and 8D, when the captured images captured by the cameras 224 and 234 are captured images having a small blob, the control unit 600 receives the transmission and receives the size and the number of the small blob. And the grade of the metal deposition plate 10 is classified according to the size and number of the small blocks.

例えば、Ｓ級、Ｅ級、Ｇ級、Ｒ級の４つの等級に分類される場合、検査対象としての小塊の大きさと面当たりの分布比率は、以下の表１の通りである。

Figure 2010122225
For example, when classified into four classes of S class, E class, G class, and R class, the size of a small blob as an inspection object and the distribution ratio per surface are as shown in Table 1 below.
Figure 2010122225

撮影が完了し、制御部６００により等級が決定された金属析出板１０はアンローディングロボット４００によりコンベヤ部１００に移送される。即ち、アンローディングロボット４００は検査部２００に収納された金属析出板１０を把持してコンベヤ部１００にアンロードする。コンベヤ部１００は金属析出板１０がアンロードされれば、矢印Ｂ方向へ移送させた後、制御部６００により決定された等級に応じて分類する。   The metal deposition plate 10 that has been photographed and whose grade has been determined by the control unit 600 is transferred to the conveyor unit 100 by the unloading robot 400. That is, the unloading robot 400 grasps the metal deposition plate 10 stored in the inspection unit 200 and unloads it on the conveyor unit 100. When the metal depositing plate 10 is unloaded, the conveyor unit 100 is moved in the direction of arrow B, and then classified according to the grade determined by the control unit 600.

以上、本発明による電解精錬された金属析出板の表面検査装置の具体的な実施形態として説明したが、これは例示に過ぎないものであって、本発明はこれに限定されるものではなく、本明細書に開示された基本思想に従う最広の範囲を有するものと解釈されなければならないものであって、当業者であれば、各構成要素の材質、大きさなどを適用分野に応じて容易に変更できる。また、開示された実施形態を組み合わせ／置換して摘示されていない構造を採択できるが、これも本発明の範囲から逸脱しないものである。その他にも当業者は本明細書に基づいて開示された実施形態を容易に変更又は変形でき、このような変更又は変形も本発明の権利範囲に属することは明白である。   As described above, the specific embodiment of the surface inspection apparatus for the electrolytically refined metal deposition plate according to the present invention has been described, but this is only an example, and the present invention is not limited thereto. It should be construed as having the widest range according to the basic idea disclosed in the present specification, and a person skilled in the art can easily determine the material, size, etc. of each component according to the application field. Can be changed. In addition, structures that are not shown by combining / substituting the disclosed embodiments may be employed, but also do not depart from the scope of the present invention. It is obvious that those skilled in the art can easily change or modify the embodiments disclosed based on the present specification, and such changes or modifications are also within the scope of the present invention.

Claims (10)

検査しようとする金属析出板を撮影して検査する検査部と、
前記検査しようとする金属析出板を前記検査部にロードするローディングロボットと、
前記検査部で検査済みの金属析出板をアンロードするアンローディングロボットと、
前記アンローディングロボットによりアンロードされた金属析出板を移送させるコンベヤ部と、
前記検査部と、前記ローディングロボット及びアンローディングロボットと、前記コンベヤ部の作動を制御し、前記検査部で撮影された前記金属析出板のイメージを用いて前記金属析出板に小塊の大きさ及び分布により前記金属析出板の等級を判定する制御部と
を含む電解精錬された金属析出板の表面検査装置。 An inspection section for photographing and inspecting a metal deposition plate to be inspected;
A loading robot for loading the metal deposition plate to be inspected into the inspection unit;
An unloading robot for unloading the metal deposition plate that has been inspected by the inspection unit;
A conveyor unit for transferring the metal deposition plate unloaded by the unloading robot;
Control the operation of the inspection unit, the loading robot and the unloading robot, and the conveyor unit, and using the image of the metal deposition plate photographed by the inspection unit, And a control unit for determining the grade of the metal deposition plate according to the distribution. 前記コンベヤ部は、
コンベヤベース部材及び
前記コンベヤベース部材に設置され、それぞれチェーンを含む一対のチェーンコンベヤ組立体で構成され、
前記チェーンは、リンク部材と、前記リンクに設置され、前記金属析出板が取り付けられる定着溝が形成された定着部材とからなることを特徴とする請求項１に記載の電解精錬された金属析出板の表面検査装置。 The conveyor section is
A conveyor base member and a pair of chain conveyor assemblies installed on the conveyor base member, each including a chain,
2. The electrolytically refined metal deposition plate according to claim 1, wherein the chain includes a link member and a fixing member installed on the link and having a fixing groove to which the metal deposition plate is attached. Surface inspection equipment. 前記検査部は、
前記金属析出板を収納する収納部と、
前記収納部の一側に設置されて前記収納部に収納された前記金属析出板の一面を撮影して検査する第１ビジョン部及び
前記収納部の他側に設置されて前記収納部に収納された前記金属析出板の他面を撮影して検査する第２ビジョン部で構成され、
前記金属析出板の撮影されたイメージは前記金属析出板の等級判定を行うために前記制御部に提供されることを特徴とする請求項１に記載の電解精錬された金属析出板の表面検査装置。 The inspection unit
A storage section for storing the metal deposition plate;
A first vision unit installed on one side of the storage unit and photographing and inspecting one side of the metal deposition plate stored in the storage unit; and installed on the other side of the storage unit and stored in the storage unit. In addition, it is composed of a second vision unit that photographs and inspects the other surface of the metal deposition plate,
The apparatus for inspecting a surface of an electrorefined metal deposition plate according to claim 1, wherein a photographed image of the metal deposition plate is provided to the control unit to determine a grade of the metal deposition plate. . 前記収納部は、
収納ベース部材と、
前記収納ベース部材に設置されて収納される前記金属析出板をガイドするためのガイド溝が形成される一対のガイド部材及び
前記一対のガイド部材の間に設置されて前記金属析出板の収納時に衝撃を緩和させるテンション部で構成され、
前記テンション部は前記一対のガイド部材の間に設置される支持部材と、前記支持部材の両側にそれぞれ設置される第１テンションベース部材と、前記第１テンションベース部材の上側に設置される第２テンションベース部材と、前記第１テンションベース部材と前記第２テンションベース部材との間に設置されて前記金属析出板の下降時に衝撃を吸収する多数のバネ部材とからなることを特徴とする請求項３に記載の電解精錬された金属析出板の表面検査装置。 The storage section is
A storage base member;
A pair of guide members formed with guide grooves for guiding the metal deposition plate installed and stored in the storage base member, and an impact when the metal deposition plate is stored between the pair of guide members. It consists of a tension part that relaxes,
The tension portion includes a support member installed between the pair of guide members, a first tension base member installed on each side of the support member, and a second installed on the upper side of the first tension base member. 2. A tension base member, and a plurality of spring members that are installed between the first tension base member and the second tension base member and absorb an impact when the metal deposition plate is lowered. 4. A surface inspection apparatus for electrolytically refined metal deposition plates according to 3. 前記第１ビジョン部及び前記第２ビジョン部はそれぞれ
昇降機構と、
前記昇降機構に設置されて前記昇降機構により昇降する昇降部材と、
前記昇降部材に傾斜するように設置されて前記金属析出板に照明を照射する照明機器及び、
前記昇降部材に直交するように前記照明機器と離間して設置されて前記金属析出板を撮影するカメラで構成されることを特徴とする請求項３に記載の電解精錬された金属析出板の表面検査装置。 The first vision unit and the second vision unit are respectively an elevating mechanism,
An elevating member installed on the elevating mechanism and elevating by the elevating mechanism;
A lighting device that is installed to be inclined to the elevating member and illuminates the metal deposition plate, and
The surface of the electrolytically refined metal deposition plate according to claim 3, wherein the surface of the metal deposition plate is electrolytically refined according to claim 3, wherein the surface of the metal deposition plate is installed at a distance from the lighting device so as to be orthogonal to the elevating member. Inspection device. 前記昇降機構は、ボールスクリュ移動機構であることを特徴とする請求項５に記載の電解精錬された金属析出板の表面検査装置。   6. The surface inspection apparatus for an electrolytically refined metal deposition plate according to claim 5, wherein the elevating mechanism is a ball screw moving mechanism. 前記照明機器は、
チルト部を備え、
前記チルト部は前記昇降部材に設置され、多数のガイドピンが設置される固定ブロックと、前記多数のガイドピンにそれぞれ挿入される多数の長孔が形成され、前記照明機器が設置されるチルト部材と、前記固定ブロックと照明機器に連結されて前記照明機器をプッシュすることにより前記チルト部材がチルトするように駆動させて前記照明機器の傾斜角を調整する空圧シリンダとからなることを特徴とする請求項５に記載の電解精錬された金属析出板の表面検査装置。 The lighting device is:
It has a tilt part,
The tilt unit is installed on the elevating member, and a fixed block on which a large number of guide pins are installed, and a plurality of elongated holes that are inserted into the large number of guide pins, respectively, so that the lighting device is installed And a pneumatic cylinder connected to the fixed block and a lighting device to push the lighting device and drive the tilt member to tilt so as to adjust the tilt angle of the lighting device. An apparatus for inspecting a surface of an electrolytically refined metal deposition plate according to claim 5. 前記ローディングロボットは、
第１ロボットベース部材及び
前記第１ロボットベース部材に設置される前記金属析出板を前記検査部にロードするロボットで構成され、
前記ロボットは前記第１ロボットベース部材に回転されるように設置されるヨーク部材と、前記ヨーク部材に連結されて揺れる揺れ部材と、前記揺れ部材に連動されるように連結される第１アームと、前記第１アームに連動されるように連結される第２アームと、前記ヨーク部材と前記第２アームに連結される支持部材と、前記第２アームに回転されるように設置されて前記金属析出板を把持するグリッパとからなることを特徴とする請求項１に記載の電解精錬された金属析出板の表面検査装置。 The loading robot is
A first robot base member and a robot loading the metal deposition plate installed on the first robot base member into the inspection unit;
The robot has a yoke member installed to be rotated by the first robot base member, a swinging member that is connected to the yoke member, and a first arm that is connected to the swinging member. A second arm coupled to be interlocked with the first arm; a support member coupled to the yoke member and the second arm; and the metal mounted to be rotated by the second arm. The apparatus for inspecting the surface of an electrorefined metal deposition plate according to claim 1, comprising a gripper for gripping the deposition plate. 前記アンローディングロボットは、
第２ロボットベース部材及び
前記第２ロボットベース部材に設置されて前記検査部で検査済みの前記金属析出板を前記コンベヤ部にアンロードさせるロボットで構成され、
前記ロボットは、
前記第２ロボットベース部材に回転されるように設置されるヨーク部材と、前記ヨーク部材に連結されて揺れる揺れ部材と、前記揺れ部材に連動されるように連結される第１アームと、前記第１アームに連動されるように連結される第２アームと、前記ヨーク部材と前記第２アームに連結される支持部材と、前記第２アームに回転されるように設置されて前記金属析出板を把持するグリッパとからなることを特徴とする請求項１に記載の電解精錬された金属析出板の表面検査装置。 The unloading robot is
A second robot base member and a robot that is installed on the second robot base member and unloads the metal deposition plate that has been inspected by the inspection unit to the conveyor unit;
The robot is
A yoke member installed so as to be rotated by the second robot base member; a swinging member connected to the yoke member and swinging; a first arm connected to the swinging member; A second arm coupled to be linked to one arm; a support member coupled to the yoke member and the second arm; and a metal deposition plate disposed to be rotated by the second arm. The surface inspection device for an electrolytically refined metal deposition plate according to claim 1, comprising a gripper for gripping. 前記グリッパはそれぞれ、
前記第２アームにそれぞれ回転されるように設置される回転部材と、
前記回転部材に設置されるグリッパフレームと、
前記グリッパフレームの一側と他側にそれぞれ設置される前記金属析出板を把持する一対の第１把持部及び
前記一対の第１把持部の内側に位置するように前記グリッパフレームに設置されて前記金属析出板を把持する一対の第２把持部で構成され、
前記一対の第１把持部はグリッパフレームの一側と他側にそれぞれ設置される空圧シリンダと、前記グリッパフレームに回動するように設置され、前記空圧シリンダにそれぞれ連結される一対の回動部材と、前記一対の回動部材の回動により金属析出板を把持したり解除するように前記一対のラッチにそれぞれ連結される一対の第１把持部材とからなり、
前記一対の第２把持部は前記一対の第１把持部の内側に位置するように前記グリッパフレームの一側と他側にそれぞれ設置される空圧シリンダと、前記空圧シリンダにそれぞれ設置されて前記金属析出板を把持したり解除する一対の第２把持部材とからなることを特徴とする請求項８又は９に記載の電解精錬された金属析出板の表面検査装置。 Each of the grippers
A rotating member installed to be rotated by each of the second arms;
A gripper frame installed on the rotating member;
A pair of first gripping portions for gripping the metal deposition plates respectively installed on one side and the other side of the gripper frame; and the gripper frame installed on the gripper frame so as to be positioned inside the pair of first gripping portions. It is composed of a pair of second gripping portions that grip the metal deposition plate,
The pair of first gripping portions are installed on one side and the other side of the gripper frame, respectively, and a pair of rotations installed on the gripper frame so as to rotate and connected to the pneumatic cylinder, respectively. A movable member and a pair of first gripping members respectively coupled to the pair of latches so as to grip and release the metal deposition plate by the rotation of the pair of rotating members,
The pair of second gripping portions are respectively installed on one side and the other side of the gripper frame so as to be positioned inside the pair of first gripping portions, and on each of the pneumatic cylinders. 10. The surface inspection device for an electrolytically refined metal deposition plate according to claim 8, comprising a pair of second gripping members that grip and release the metal deposition plate.
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